@INPROCEEDINGS{Zhang15ICCSE, 
	author={K. Zhang and S. Zheng and W. Yu and X. Li}, 
	booktitle={10th International Conference on Computer Science Education (ICCSE)}, 
	title={A depth-incorporated {2D} descriptor for robust and efficient {3D} environment reconstruction}, 
	year={2015}, 
	pages={691-696}, 
}